CN203612096U

CN203612096U - Split type robot with suckers

Info

Publication number: CN203612096U
Application number: CN201320739768.1U
Authority: CN
Inventors: 杨敏敏
Original assignee: Butterworth Business Machine People Co Ltd Of Suzhou Section
Current assignee: Ecovacs Commercial Robotics Co Ltd
Priority date: 2013-11-20
Filing date: 2013-11-20
Publication date: 2014-05-28
Anticipated expiration: 2023-11-20

Abstract

The utility model relates to a split type robot with suckers. The split type robot comprises a front robot body (2) and a rear robot body (3), which are connected with each other and can move relative to each other. The front robot body (2) comprises at least one front sucker (21) and the rear robot body (3) comprises at least one rear sucker (31). The front robot body (2) is provided with at least one concave/convex part (4) and the rear robot body (3) is provided with at least one convex/concave part (5). The shape of the concave/convex part (4) is matched with the shape of the convex/concave part (5), so that a matching area (6) where the rear side of the front robot body (2) and the front side of the rear robot body (3) envelop each other is formed. At least one part of the front sucker (21) and at least one part of the rear sucker (31) are arranged in the matching area (6), so that the rearmost side edge of the at least one front sucker (21) is located behind the foremost side edge of the at least one rear sucker (31). Therefore, the length of the split type robot can be reduced and the travel for crossing gaps can be shortened.

Description

With the split type robot of sucker

Technical field

The utility model relates to split type robot, especially, relates to the split type robot that is adsorbed on body surface by sucker.

Background technology

Along with expanding economy, modern city high building stands in great numbers.The maintenance of the exterior wall of these skyscraping City Buildings and cleaning operation are in the past all by manually completing.Such manual work process wastes time and energy, and also exists danger.Can solve to a great extent this problem in the vertical walls of building etc. or the appearing at of robot of top mobile working.By various executive device is installed on these robots, they can replace people to complete dangerous operations such as high building cleaning, the welding of large-scale shell, elevator inspection.

Such robot can be split type and dependence is adsorbed on operation surface adsorption plants such as sucker.For example, Chinese patent application announce CN102167102A(hereinafter referred to patent documentation 1) in disclosed a kind of split type Climbing Robot.As shown in Figure 1, this split type robot comprises the first Adsorbing matter 101 and the second Adsorbing matter 102.Be provided with multiple suckers 103 in the bottom of the first Adsorbing matter and the second Adsorbing matter.The first Adsorbing matter 101 and the second Adsorbing matter 102 are alternately adsorbed on operation surface by sucker 103, thus realize robot such as the motion such as advancing.Especially, in the time that such robot need to be crossed the gap on operation surface, the first Adsorbing matter 101 first separating operation surface also travels forward, make sucker disposed thereon 103 cross gap and be adsorbed on the operation surface on opposite, gap, then the second Adsorbing matter 102 separating operation surface travel forward and make the sucker 103 being arranged on the second Adsorbing matter 102 cross gap again.As shown in Figure 2, in this structure, the border width of all suckers 103 of the first Adsorbing matter 101 in the working direction of robot is D1, the border width of all suckers 103 of the second Adsorbing matter 102 in the working direction of robot is D2, because the sucker 103 that is arranged at the first Adsorbing matter 101 has certain distance d(apart here with the sucker 103 that is arranged at the second Adsorbing matter 102 in the working direction of split type robot, d >=0), so the border overall width D of all suckers of robot in robot working direction is greater than D1, D2 sum, be D=D1+D2+d >=D1+D2(formula 1).When the gap width that need to cross when split type robot is W, required stroke S is more than or equal to D1, D2, d and W sum, i.e. S >=D1+D2+d+W(formula 2).

Utility model content

Thereby the sucker arrangement in patent documentation 1 makes the total length of fuselage of split type robot longer, structure is compact not, and it is also longer to cross the required stroke in gap, easily causes the generation of the unforeseen circumstances in operation.

Therefore, expect to provide a kind of compact conformation, fuselage shorter, also shorter split type robot of stroke while crossing gap.

Embodiment of the present utility model provides a kind of split type robot.Described split type robot comprises front body and rear body, and described front body and described rear body interconnect and can relative motion.Described front body is furnished with at least one anterior sucker, and described rear body is furnished with at least one posterior sucker.Described front body is provided with at least one recessed/protuberance of facing mutually with described rear body, and described rear body is provided with at least one protruding/recess of facing mutually with described front body.Described recessed/protuberance with corresponding described protruding/shape of recess matches, make the rear side of body and the front side of described rear body to form the mating area of mutual envelope in the working direction of described split type robot before the above.At least a portion of described at least one anterior sucker and at least a portion of described at least one posterior sucker are arranged at described mating area, make in the time that described front body and described rear body close up, the last lateral edges of described at least one anterior sucker in the working direction of described split type robot is positioned at the rear of the forward edge of described at least one posterior sucker.

Preferably, described anterior sucker is different from the size of described posterior sucker, and in the time that described front body and described rear body close up, in described mating area, in described anterior sucker and described posterior sucker, smaller's edge, front and back is inclusive in the diameter range of the greater.

Preferably, described anterior sucker and described posterior sucker measure-alike, in the time that described front body and described rear body close up, in described mating area, the center of described anterior sucker and the center arrangement of described posterior sucker are on the straight line of the working direction perpendicular to described split type robot.

Preferably, described at least one anterior sucker and described at least one posterior sucker can all be arranged at described mating area.

According to the utility model, can reduce the fuselage length of split type robot, make the structure of split type robot compacter, and can shorten split type robot and cross the required stroke in gap.

Accompanying drawing explanation

Fig. 1 is the structural representation of split type robot of the prior art;

Fig. 2 shows in detail the sucker arrangement of split type robot of the prior art;

Fig. 3 is the housing construction of split type robot and the schematic diagram of sucker layout of the utility model embodiment;

Fig. 4 is that the split type robot of the utility model embodiment is crossed the schematic diagram in gap;

Fig. 5 is the schematic diagram of the preferred embodiment of the split type robot of the utility model embodiment.

The specific embodiment

The split type robot of the utility model embodiment is provided with front body 2 and rear body 3.Can adopt mode as known in the art that bindiny mechanism and actuating mechanism between front body 2 and rear body 3 is set, repeat no more here.As shown in Figure 3, front body 2 is provided with at least one recessed/protuberance 4 of facing mutually with rear body 3, rear body 3 is provided with at least one the protruding/recess 5(facing mutually with front body 2 for the ease of diagram, in Fig. 3, only show a protruding/recess 5), recessed/protuberance 4 with corresponding protruding/shape of recess 5 matches, when current body 2 is closed up with rear body 3, at the working direction of split type robot the go forward rear side of body 2 and the mutual envelope in front side of rear body 3, form and be similar to the intermeshing mating area 6 of gear as shown in long and short dash line in Fig. 3.For the ease of diagram, in Fig. 3, only show a recessed/protuberance 4 and a protruding/recess 5, but should be understood that, split type robot of the present utility model can in the direction perpendicular to working direction, be provided with multiple match recessed/protuberance 4 and protruding/recess 5, the common mating area 6 that forms of these recessed/protuberances 4 and protruding/recess 5.

The bottom of front body 2 is provided with at least one anterior sucker 21, and at least a portion in them is arranged at mating area 6.The border overall width of at least one anterior sucker 21 in the working direction of split type robot is D1.The bottom of rear body 3 is provided with at least one posterior sucker 31, and at least a portion in them is arranged at mating area 6.The border overall width of at least one posterior sucker 31 in the working direction of split type robot is D2.Pass through said structure, owing to existing the mating area 6 of front body 2 and rear body 3 and at least a portion anterior sucker 21 and at least a portion posterior sucker 31 to be arranged at mating area 6, between the anterior sucker 21 of body 2 before this and the posterior sucker 31 of rear body 3 are not only not as shown in Fig. 1 and Fig. 2, be separated with apart from d, but also make in the working direction of split type robot, the last lateral edges of the anterior sucker 21 of front body 2 is positioned at the rear of the forward edge of the posterior sucker 31 of rear body 3.That is to say, the border overall width D of all suckers of split type robot in the working direction of split type robot is less than D1 and D2 sum, i.e. D<D1+D2(formula 3).In the time having gap width that the split type robot of such structure need to cross and be W, as shown in Figure 4, required stroke S is less than D1, D2 and W sum, i.e. S<D1+D2+W(formula 4).By formula 1 and formula 3 and formula 2 are compared respectively with formula 4, the size of the split type robot of the utility model embodiment in working direction is obviously compacter, and it is also shorter to cross the required stroke in gap.It should be noted that, for the ease of diagram, the split type robot shown in Fig. 3 and the Fig. 4 that will illustrate is only furnished with anterior sucker 21 and posterior sucker 31 at mating area 6 below.But according to design needs, other region outside mating area 6 also can be furnished with anterior sucker 21 and posterior sucker 31 to strengthen adsorption affinity.In this case, the arrangement that is arranged in the sucker in other region can be implemented according to known arbitrary form, as long as guarantee that the anterior sucker 21 and the posterior sucker 31 that are arranged in mating area 6 have above-mentioned structure, just can realize above-mentioned effect.Preferably, anterior sucker 21 and posterior sucker 31 can all be arranged at mating area 6 as shown in Figure 3 and Figure 4.

When the anterior sucker 21 of current body 2 varies in size with the sucker of the posterior sucker 31 of rear body 3, preferably, the diameter of the size of/protuberance 4 recessed by adjusting and protruding/recess 5 and anterior sucker 21 and posterior sucker 31, make in mating area 6, in the working direction of split type robot, in anterior sucker 21 and posterior sucker 31, smaller's edge, front and back is inclusive in the diameter range of the greater.Especially, as shown in Figure 5, in the situation that anterior sucker 21 and posterior sucker 31 are all arranged at mating area 6, the front and back border width that the border overall width D of all suckers of split type robot in the working direction of split type robot equal larger sucker is (in Fig. 5, D=D2), split type robot is crossed width while being the gap of W, and required stroke S equals front and back border width and the W sum (in Fig. 5, S=W+D2) of larger sucker.That is to say, can make the fuselage length of split type robot in working direction, reach the shortest, and stroke while making split type robot cross gap is the shortest.

When the sucker size of the anterior sucker 21 of current body 2 and the posterior sucker 31 of rear body 3 is identical, preferably, the diameter of the size of/protuberance 4 recessed by adjusting and protruding/recess 5 and anterior sucker 21 and posterior sucker 31, make in mating area 6, the center arrangement of anterior sucker 21 center and posterior sucker 31 is on the straight line of the working direction perpendicular to split type robot.This can make the fuselage length of split type robot in working direction, reach the shortest, and stroke while making split type robot cross gap is the shortest.

By said structure, not only can reduce the fuselage length of split type robot, make the structure of split type robot compacter, and can shorten split type robot and cross the required stroke in gap.

Claims

1. a split type robot, it comprises front body (2) and rear body (3), described front body (2) and described rear body (3) interconnect and can relative motions, described front body (2) is furnished with at least one anterior sucker (21), described rear body (3) is furnished with at least one posterior sucker (31), it is characterized in that:

Described front body (2) is provided with at least one recessed/protuberance (4) of facing mutually with described rear body (3), described rear body (3) is provided with at least one protruding/recess (5) of facing mutually with described front body (2), described recessed/protuberance (4) with corresponding described protruding/shape of recess (5) matches, make the rear side of body (2) and the front side of described rear body (3) to form the mating area (6) of mutual envelope in the working direction of described split type robot before the above, and

At least a portion of at least a portion of described at least one anterior sucker (21) and described at least one posterior sucker (31) is arranged at described mating area (6), make in the time that described front body (2) and described rear body (3) close up, the last lateral edges of described at least one anterior sucker (21) in the working direction of described split type robot is positioned at the rear of the forward edge of described at least one posterior sucker (31).

2. split type robot according to claim 1, it is characterized in that, described anterior sucker (21) is different from the size of described posterior sucker (31), in the time that described front body (2) and described rear body (3) close up, in described mating area (6), the edge, front and back of the smaller in described anterior sucker (21) and described posterior sucker (31) is inclusive in the diameter range of the greater.

3. split type robot according to claim 1, it is characterized in that, described anterior sucker (21) is measure-alike with described posterior sucker (31), in the time that described front body (2) and described rear body (3) close up, in described mating area (6), the center arrangement of the center of described anterior sucker (21) and described posterior sucker (31) is on the straight line of the working direction perpendicular to described split type robot.

4. according to the split type robot described in any one in claims 1 to 3, it is characterized in that, described at least one anterior sucker (21) is all arranged at described mating area (6) with described at least one posterior sucker (31).